error_accumulator.h

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#pragma once
 
class ErrorAccumulator {
public:
    void init(float ignoreError, float dt) {
        m_ignoreError = ignoreError;
        m_dt = dt;
    }
 
    // Accumulate the current error, returning the total integrated error
    float accumulate(float error);
 
    // Get the current accumulator value
    float getAccumulator() const {
        return m_errorIntegral;
    }
 
    // Reset the integrator to 0 error.
    void reset();
 
private:
    // more or less threshold parameter
    float m_ignoreError = 0;
    // time parameter
    float m_dt = 0;
    // current state
    float m_errorIntegral = 0;
};